Electro-hydraulic Technique Based Obstacle-avoidance System of Multi-DOF Complicated Mechanical Arms

摘要

Ultrasonic sensors and infrared ray sensors are combined to detect obstacles and measure the information between arms and obstacles. A position/velocity self-adaptation fuzzy controller is designed to realize obstacle-avoidance control. The electro-hydraulic proportional technique is used to realize arms' prompt and exact movement at one speed of three kinds which are full speed, fast speed and slow speed.